#!/usr/bin/env python

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import roslib
roslib.load_manifest('create_node')
import rospy
from create_node.srv import SetTurtlebotMode

service = 'turtlebot_node/set_operation_mode'

def set_to_full():
    '''
      This waits until it finds a serial connection and then sets the operation mode.
    '''
    rospy.init_node('io_mode_changer')
    rospy.wait_for_service(service)
    while True:
        service_proxy = rospy.ServiceProxy(service, SetTurtlebotMode)
        response = service_proxy(3)
        if response.valid_mode:
            break
        else:
            rospy.sleep(3)
            continue

if __name__ == '__main__':
    try:
        set_to_full()
    except rospy.ROSInterruptException: pass
    except IOError: pass
